@@ -185,6 +185,7 @@ Initially the I-value was 4, and as just explained we needed a stronger reaction
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@@ -185,6 +185,7 @@ Initially the I-value was 4, and as just explained we needed a stronger reaction
| 7 | Possibly better | Looks similar to 6, hard to tell if improvement|
| 7 | Possibly better | Looks similar to 6, hard to tell if improvement|
| 8 | Worse | Reacts too violently often ends up falling to the opposite side |
| 8 | Worse | Reacts too violently often ends up falling to the opposite side |
After increasing the I-value to 6 or 7, the robot appears to react more violently to steadily increasing errors and as such prevents the slow-but-certain fall behavior it previously had. However, it ultimately still tips over to either side rather quickly.
We decided to finish up the experiments (long) before having tried all possible combinations of parameters values, as it seemed pointless to go on when seeing no significant improvements to the robot's behaviour - continuing would not improve on our understanding of the effects of the different PID parameters further. However, the parameter search inspired by grid search did provide us with a more structured insight into the effects of the different parameters than had we just tried varying each parameter on a whim.
We decided to finish up the experiments (long) before having tried all possible combinations of parameters values, as it seemed pointless to go on when seeing no significant improvements to the robot's behaviour - continuing would not improve on our understanding of the effects of the different PID parameters further. However, the parameter search inspired by grid search did provide us with a more structured insight into the effects of the different parameters than had we just tried varying each parameter on a whim.
